User manual

Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 173
Commission Chapter 7
Understanding STO Bypass When Using Motion Direct Commands
For complete information about Motion Direct Commands in motion control
systems including the Safe Torque Off feature, see the Kinetix 5500 Servo Drives
User Manual, publication 2198-UM001
and the Kinetix 5700 Multi-axis Servo
Drives User Manual, publication 2198-UM002
.
If a Safety connection between the GuardLogix safety controller and the 2198-
Hxxx-ERS2 servo drive was established at least once after the drive was received
from the factory, the drive does not allow motion while the safety controller is in
Program mode by default.
This is because the Safety Task is not executed while the GuardLogix safety
controller is in Program mode. This applies to applications running in a single-
safety controller (with Motion and Safety connections). When an integrated
safety drive has a Motion connection to a standard controller and a separate
Safety connection to a dual-safety controller, the standard controller can
transition to Program mode while the safety controller stays in Run mode and
continues to execute the Safety Task.
However, 2198-Hxxx-ERS2 drive systems are designed with a bypass feature for
the STO function in single-safety controller configurations. You can use the
Motion Direct Command (MDC) feature to allow motion while following all
the necessary and prescribed steps per machine safety operating procedures.
Table 19
defines which drive supports the type of STO functionality.
ATTENTION: Consider the consequences of allowing motion through the use of
MDC when the controller is in Program mode. You must acknowledge warning
messages in the Logix Designer application that warn of the drive bypassing the
STO function and unintended motion can occur. The integrated safety drive does
not respond to the request of STO function if MDC mode is entered.
ATTENTION: It is your responsibility to maintain machine safety integrity while
executing Motion Direct Commands. One alternative is to provide ladder logic
for Machine Maintenance mode that leaves the controller in Run mode with
safety functions executing.
Table 19 - Drives Supporting STO - Safe Torque Off
Drive Mechanism Axis Status STO Configuration
K6500s0 STO Hardwired .GuardStatus Web page
K6500s1 STO Hardwired .GuardStatus Web page
PF755s STO Hardwired .GuardStatus Web page
PF755s1 STO Hardwired .GuardStatus Web page
K350 STO Hardwired .GuardStatus None (hardwired)
K5500ers STO Hardwired .GuardStatus None (hardwired)